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Towards Sociable Robots

Towards Sociable Robots. Cynthia Breazeal MIT Media Lab Robotic Presence Group. Outline. Brief survey of human-robot interaction research domains Design issues as applied towards sociable robots Ingredients/Grand challenges of sociable robots. Humans in Hazardous environments.

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Towards Sociable Robots

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  1. Towards Sociable Robots Cynthia Breazeal MIT Media Lab Robotic Presence Group

  2. Outline • Brief survey of human-robot interaction research domains • Design issues as applied towards sociable robots • Ingredients/Grand challenges of sociable robots

  3. Humans in Hazardous environments • Robots as critical systems • Pre-curser missions to characterize planet • Set up infrastructure for astronauts • Assistance on Mars (carry tools, etc.) • Life support on Mars • Morphology • Vehicular/mobile/carry payload • Humanoid/space shuttle/use astronaut tools • Balance of control • Tele-operation, VR • Supervised from within • Supervised face-to-face JPL JSC

  4. Human supervised teams • Single human commanding many robots • Balance of control • Heterogeneous vs homogenous teams • Hierarchical? Autocratic? Democratic? • Load balancing and task allocation • Cooperative & distributed conrol (USC) • Scaling to (very) large numbers • Interface issues • Usability of software for tactical scenarios (GaTech) • Communication/interaction • DARPA—Mixed initiative control of autonoma teams UCB

  5. Robotic-augmentation of humans • Robot as an “extension” of your body • Enhance ability of a surgeon • Robotic prosthetic, wheelchair • Robotic exoskeleton • Interface issues • Brain-machine interface (CalTech, Duke) • Bio-mimetic robots • DARPA—Bio:Info:Micro Intuitive Surgical iBOT MIT

  6. Robots in the human environment • Robots in the home, office, etc… • Domestic assistants, healthcare,“smart” appliances, entertainment, education… • Robots that are a part of your everyday life • Autonomy in human social environment • On the job learning • Untrained users of different gender, age, culture, etc. • Long-term relationship NEC Sony

  7. Human-Robot Relationships • Smart tool (surgical robots) • Complete independence (vacuum cleaner robot) • Extension of you (robotic prosthetic) • Commander/troops • Pet owner/pet • Master/servant • Peer/colleague

  8. A Question of Interface (HCI) • Intuitive, natural interface for untrained users (Reeves&Nass) • Humans are experts in social interaction • Humans automatically and unconsciously respond socially and naturally to technology. • If technology adheres to human social expectations, people find interaction enjoyable and feel empowered and competent • Holds for specialists and lay people • How does age, gender, culture, etc. impact this? • How to measure, evaluate?

  9. What is a sociable robot? • To build robots that have a “living” presence, that people can interact with, communicate with, understand, and teach in human terms. • Robots that support human social intelligence • Robots that are socially intelligent themselves • Self-motivated, pro-active creature, not appliance • Process of synthesis and iteration to come to a deeper scientific understanding of human sociability

  10. Design issues for sociable robots:Morphology • Match morphology to the task and environment • Humanoid form • Send and receive human social cues in similar modalities • Gaze direction • Gesture • Vocalizations/speech • Facial expressions • Human engineered environment tailored to human morphology Sony Sony CMU NEC

  11. Design issues for sociable robots:Appearance • Establish suitable social expectations • Organic human faces difficult to achieve • Balance familiarity vs “too plug-compatible” • Biases interaction (dog-like, human-like, etc) • Implied abilities (physical, cognitive, etc.) • Mechanical “cartoon” • Anthropomorphic but creaturish • Appeal and to portray youth KSRP Waseda SUT MIT

  12. Design issues for sociable robots:Personality • Should the robot have a designed personality? • Compatible with person’s personality, culture…(HCI) • Encourages creature rather than tool-like interactions • Encourage infant-caregiver interactions • Portrays youth and curiosity • Simplest human-style interaction between human and robot • Study in social development---humans must engage robot socially • Benefits robot’s perceptual/behavioral limitations • Benefits learning scenarios

  13. Science can guide design of perceptual, motivational (“drives” & “emotions”), cognitive, behavioral, and motor systems. Match to human counterparts Find same things salient Perceive behaviorally relevant cues Recognizable behavior, expressions Predictable, understandable behavior, etc. Creature-like autonomy, robustness, flexibility, adaptability Understand natural systems (animals, people) Design Issues for Sociable RobotsPsychological, etc. modeling

  14. Wolfe’s model, VGS2.0 Frame Grabber skin tone color motion habituation • Provides locus of attention to organize behavior • Human and robot both find stimuli interesting • Gaze direction is feedback cue to human w w w w attention inhibit reset Top down, task-driven influences Eye Motor Control

  15. Matched to human Readable Understandable Examples stimulus category stimulus presentations average time (s) commonly used cues commonly read cues color and movement yellow dinosaur 8 8.5 motion across centerline, shaking, bringing object close change in visual behavior, face reaction, body posture multi-colored block 8 6.5 green cylinder 8 6.0 movement only black&white cow 8 5.0 skin toned and movement pink cup 8 6.5 hand 8 5.0 face 8 3.0 Overall 56 5.8

  16. Design issues for sociable robots:Managing Interaction Complexity • Robots have limited perceptual, cognitive, behavioral abilities compared to people • Imbalance in social sophistication between human and robot • Tightly coupled and contingent interactions • Mutually regulated • Regulate interaction between robot and human • Role of “emotions” and “drives” with expressive feedback • Modulate intensity of interaction • Turn-taking with para-linguistic envelope displays • Entrainment

  17. Video of turn-taking with envelope displays

  18. time stamp (min:sec) seconds between disturbances subject 1 start @ 15:20 15:20 – 15:33 13 15:37 – 15:54 21 15:56 – 16:15 19 16:20 – 17:25 70 end @ 18:07 17:30 – 18:07 37+ subject 2 start @ 6:43 6:43 – 6:50 7 6:54 – 7:15 21 7:18 – 8:02 44 end @ 8:43 8:06 – 8:43 37+ subject 3 start @ 4:52 4:52 – 4:58 10 5:08 – 5:23 15 5:30 – 5:54 24 6:00 – 6:53 53 6:58 – 7:16 18 7:18 – 8:16 58 8:25 – 9:10 45 end @ 10:40 9:20 – 10:40 80+ Entrainment and Regulation • Naive subjects • Age from 25 to 28 • All young professionals. • No prior experience with Kismet • Video recorded • Turn-taking performance • 82% “clean” turn transitions • 11% interruptions • 7% delays followed by prompting • Evidence for entrainment • Use shorter phrases • Wait longer for response • Wait for multiple phrases

  19. Need a multi-disciplinary community! • Guide design of robot • Understand human side • Advance scientific understanding of both • Human-centered design • Measurements and Evaluation • Usability • Teach-ability • Variation with gender, age, culture, etc. SCIENCE HCI ROBOTICS & AI • Robotic design • Real-world autonomy • Task performance • Perception, Decision making, Knowledge, Learning, Emotion, Personality, etc.

  20. Ingredients & challenges of sociable robots • Life-like behavior • Real-world Autonomy • Believability • Commonsense • Human aware • Perceiving people • Speech, gesture, expression,etc. • Understanding people • ToM, empathy, story-based, BDI, etc. • Being understood • Self understanding • ToM, autobiographic memory, etc. • Readable • Adhere to human ToM of robot • Socially situated learning • Tutelage, imitation, goal emulation, training, etc. • Evaluation criteria • Human psychology • Ethics

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